JPS60157939A - Automatic adjusting device of back mirror - Google Patents

Abstract

PURPOSE:To make the angle of a back mirror always proper by enabling the angle of said back mirror to be automatically adjusted in accordance with the position of eyes of a driver. CONSTITUTION:As the position of eyes of a driver in a car varies depending on the constitution of the driver, the position of eyes of said driver is three- dimensionally detected by a detecting means III, and a driving signal is outputted to an actuator II, which is provided on a back mirror I , based on the position of eyes of the driver detected by said detecting means III. Said actuator IIadjusts the angle of the back mirror I properly in accordance with the driving signal. Thus, the troublesome job of adjusting a back mirror, when a driver is changed, can be eliminated.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic rearview mirror adjustment device that automatically adjusts the angle of a rearview mirror of a vehicle according to the position of the driver's eyes.

[Prior Art] Traditionally, rearview mirrors for vehicles include outside mirrors, which are mounted outside the vehicle interior and mainly used to check the sides and rear of the vehicle, and outside mirrors, which are mounted inside the vehicle interior and mainly used to check the rear view through the rear window. The inside mirror is known for checking the situation. Also, Ara1-Zide mirrors are sometimes classified into fender mirrors and door mirrors depending on where they are installed.

By the way, in these rearview mirrors, it is necessary to adjust the rearview mirror angle according to the position of the driver's eyes to ensure visibility to the rear and sides of the vehicle. In the case of a vehicle where the driver changes the angle of the rearview mirror each time, it becomes troublesome. Because the position of the eyes differs depending on the riding position, it is not possible to maintain the visibility to the rear and sides of the vehicle at the optimum position at all times.

Therefore, in recent years, outside mirrors with a remote control type adjustment mechanism have become popular, allowing the driver to easily adjust the angle of the rearview mirror while remaining in the driver's seat. It is becoming more and more
The hassle of adjusting the rearview mirror angle is gradually being resolved.

However, in any case, with the conventional rearview mirrors described above, someone needs to adjust the rearview mirror angle according to the position of the driver's eyes, which reduces the hassle of adjusting the rearview mirror angle i. It is not possible to eliminate it completely.

[Object of the Invention] Therefore, in order to completely eliminate the trouble of adjusting the rearview mirror angle, the present invention automatically adjusts the angle of the rearview mirror according to the position of the driver's eyes. A rearview mirror that can automatically adjust the rearview mirror angle so that the rearview mirror angle always corresponds to the position of the eyes even when the driver's riding posture changes and the position of the eyes changes while driving. The purpose is to provide an automatic adjustment device.

[114 features of the invention] As shown in FIG.
an actuator ■ that adjusts the angle of the vehicle; a detection means ■ that three-dimensionally detects the position of the eyes of the driver in the vehicle; The gist of the present invention is an automatic rearview mirror adjustment device comprising: adjustment means IV that outputs a drive signal to the actuator and adjusts the angle of the rearview mirror.

[Example] Hereinafter, the rearview mirror automatic adjustment device of the present invention will be explained by giving an example and referring to the drawings.

FIG. 2 is a perspective view showing the area around the driver's seat of a vehicle equipped with the rearview mirror automatic adjustment device of the first embodiment of the present invention, in which 1 is the driver, 2 is the driver's seat, 3 is a headrest, and 4 is a Steering wheel, 5 is the air outlet of the air conditioner, 6
and 7 are rearview mirrors, 6 is an inside mirror attached to the interior of the vehicle, and 7 is a door mirror attached to the outside of the driver's side door. Reference numeral 10 represents an instrument panel, and in addition to the instruments normally provided, this instrument panel 10 also includes a light emitting section 11 for detecting the position of the eyes of the passenger, an image detecting section 12, and an image detecting section 12. 13 are provided.

Next, as shown in the block diagram of FIG. 3, the present rearview mirror automatic adjustment device is constructed of the above-mentioned inside mirror 6, door mirror 7, light emitting section 11, image detecting sections 12 and 13, and the passenger side door. It consists of an attached door mirror 7' and a control circuit 20, and detects the position of the eyes of the driver 1 from two two-dimensional images showing the upper body of the driver 1 obtained by the image detection units 12 and 13. Then, each rearview mirror angle is adjusted according to the detected eye position.

As shown in the figure, the control circuit 20 includes an input/output section 21 equipped with an A/D converter and an amplifier circuit for inputting and outputting signals to each of the above devices, and an input/output section 21 equipped with a width circuit, etc. CPLJ22, CP that executes image processing to detect the position of the eyes of driver 1 from a dimensional image and start adjustment of rearview mirror angle
A ROM 23.0 in which data necessary for execution of the execution process is stored in advance in U22. Similarly, it has a RAM 24 in which data necessary for executing the trunk processing is temporarily stored, and a backup RAM 25 to which power is constantly supplied, and is directly connected to a battery 26 in order to constantly supply power to the backup RAM 25. The power supply circuit 27 includes a power supply circuit 27 and a power supply circuit 30 connected to the battery 26 via an ignition switch 28 or an accessory switch 29 that supplies power to each part other than the backup RAM 25.

Here, the above-mentioned in (noid mirror 6, door mirror 7 and 7
' is provided with an actuator for adjusting the angle according to the position of the driver's eyes, and has a structure as shown in FIG. 4. In the figures, (a) shows a partial sectional view, and (b) shows a left side view thereof.

As shown in the figure, the rearview mirror of this embodiment is equipped with a single-motor actuator 40, and a small DC motor 41.
The mirror case 43, which has a reduction gear and a clutch and is attached to the back of the mirror 42, is rotated horizontally (in the direction of arrow The angle can be adjusted to the central axis of the small DC motor 41 shown in the figure (in the direction of the arrow y, which is rotated around the center axis).

In the figure, reference numeral 45 denotes a left link attached to the main body of the mirror case 43 so that the mirror case 43 can rotate only in the horizontal direction. Inner teeth 46 are carved. The left protrusion of the left hollow cap 47 is fitted into the inner hole of the left link 45, and the outer teeth 48 carved around the protrusion of the left hollow cap 47 and the inner teeth 46 of the inner hole of the left link 45 are fitted. It is interlocked. A left planetary gear 49 and a left internal gear 50 are fitted into the right inner hole of the left hollow cap 47, and the left hollow cap 47 and the left planetary gear 49 have internal teeth 51 and external #J52 carved respectively. Similarly, the left planetary gear 49 and the left internal gear 50 are connected by engagement with internal teeth 53 and external teeth 54, which are respectively carved. The external teeth 52 of the left planetary gear 49 are connected to the intermediate wall 5.
It is also engaged with internal teeth 57 carved in the left opening of a cylindrical left adapter 56 having a cylindrical shape. Therefore, the left planetary gear 49 is connected to the intermediate wall 55 of the left adapter 56 and the left hollow cap 4.
It is rotatably fixed at the right inner end surface of 7.

Next, a clutch holder 60 is mounted on the right inner wall surface of the left adapter 56.
is stored in the clutch holder 60, and a bobbin 62 around which a coil 61 is wound is stored in the clutch holder 60.

An intermediate wall 65 of the right adapter 64 is provided on the right side of this bobbin 62 via a clutch plate 63, and the bobbin 62 is provided between the left adapter 56 and the right adapter 64 via the clutch holder 60 and the clutch plate 63. wall 55.65
It will be placed between.

A right 'M star gear 67 and a right internal gear 68 are fitted into the right inner wall surface of the right adapter 64, similar to the left inner wall surface of the left adapter, and a right hollow cap 69 is fitted into the right side surface of the right planetary gear 67. is provided. A protrusion GJ is provided on the right end surface of the right hollow cap 69 in the same manner as the left hollow cap 47, and this protrusion is also provided with external teeth 70, which are provided on the right link 71. The rack 72 is interlocked with the rack 72.

The end of the right link 71 on the side of the mirror case 43 is formed into a ball shape, and a hole 73 formed in the mirror case 43
It is fitted and fixed and can be rotated freely.

Next, the motor shaft 75 of the small DC motor 41 is fitted and fixed from the center of the left hollow cap 47 into the hole on the left end surface of the center shaft 76, and the center shirt 1-76 is integrated with the clutch plate 63, and the clutch plate 63 It is also freely movable in the left and right directions in the figure. The clutch plate 63 is moved in the left-right direction by the current of the coil 61, and the center shaft 76 is connected to the left internal gear 50 or the right internal gear 67. Therefore, the rotation of the small DC motor 41 is controlled by the motor shirt! -75 to center shaft 76, leftward f
From the IA wheel 50, the left planetary gear 49, and the left hollow cap 47 to the L link 45, or from the motor shaft 75 to the center shaft 76, the right internal gear 68, the right planetary gear 67, and the right hollow cap 69 to the right link 71. The mirror case 43 is now transmitted vertically (y direction).
Alternatively, the rearview mirror can be driven in the horizontal direction (X direction), and the angle of the rearview mirror can be adjusted.

Further, the left link 45 and the right link 71 have position sensors 78 and 79 for detecting the position of each link and detecting the vertical direction (y direction) inclination and horizontal direction (x direction) inclination of the mirror 42 surface. are respectively provided, and the angle of the rearview mirror can be determined based on the detection results. The position sensors 78 and 79 are composed of potentiometers that detect the position of each link based on a change in resistance value.

Next, the light emitting section 11 and the image detecting sections 12 and 13 are provided in the instrument panel 10 section in front of the driver's seat, as described above, as shown in FIG.
The light is not obstructed by the steering wheel 4, and the driver 1
It is installed in a position where the upper body of the child can be seen, and the sixth
As shown in the figure, the light emitting section 11 is installed on the central axis of the driver's seat 2, and the image detecting sections 12 and 13 are installed symmetrically to the left and right sides of the light emitting section 11. Here, in this actual tfI example, an infrared strobe is used as the light emitting section 11, and an infrared strobe is used as the image detecting section 12 and 13.
A two-dimensional solid-state imaging device (hereinafter simply referred to as a two-dimensional CCD) will be used, and the respective configurations will be explained using FIGS. 7 and 8.

FIG. 7 is a side view of the light emitting unit 11 using an infrared strobe, where 80 is an infrared light emitter, 81 is a lens for broadly irradiating the driver 1 with infrared light, and 82 is an infrared light emitter. An infrared filter that transmits visible light but does not pass visible light; 83 is a case; 84 is an inner that fixes the lens 81 and filter 82 to the case 83; the main light emitting unit 11 is attached to the instrument panel 10 using bolts 85 and This is done by screwing together with the cut 86. Here, the filter 82 is intended to block visible light from passing through, but this is because the emission spectrum from the infrared emitter 80 does not necessarily include only those in the infrared region, but also includes those in the visible light region. This filter 82
For example, light with a wavelength of 800 nm or less is cut out, so that the driver does not feel dazzled.

FIG. 8 shows an image detection unit 12 or 13 using a two-dimensional CCD.
90 is a two-dimensional CCD mounted on a printed circuit board 91, 92 to 96 are printed circuit boards mounted with an image signal control circuit for controlling image reading from the two-dimensional CCD 90, and 100 is a two-dimensional CCD. Lens 101 with focal length f that focuses the image on CCD 90. Two-dimensional CCD
Liquid crystal diaphragm element 102.2 that adjusts the amount of light focused on 90
It represents a mount adapter incorporating a phototransistor 103 that detects the amount of light focused on the dimensional CCD 90. Further, 105 is a case of the main image detection unit 12 or 13, and the bolt 1 is
07 and a nut 108 are screwed together to fix it to the instrument panel 10.

As shown in FIG. 9, the structure of the liquid crystal aperture element 102 includes a liquid crystal layer 111, transparent electrode layers 112 and 113 sandwiching the liquid crystal layer 111, and polarization planes that are orthogonal to each other.
The liquid crystal layer 111 and the transparent electrode layers 112 and 113 are arranged concentrically so that the liquid crystal aperture element 1132 can adjust the amount of light in five stages.

It is divided into b, c, d, and e. and electrode layer 112
and each part of 113, that is, 112a - 113a, 11
2b-113b, 112cm113c.

Power can be supplied to each of 112d to 113d at the same time, and depending on the light detected by the phototransistor 103, that is, depending on the current flowing through the phototransistor 103, power is supplied to 112a-1 from the outside of the electrode layer.
Voltages can be applied in the order of 13a, 112b - 113b, . . . . Therefore, when no power is applied to each electrode layer, the liquid crystal layer 111 has the property of rotating the polarization plane of transmitted light by 90''.
The external light passes through the polarizing plate l1114 and becomes single polarized light, which is transmitted through the liquid crystal 1.
11, the plane of polarization is rotated by 90 degrees and passes through the other polarizing plate layer 115.
! When voltage is applied to 112 and 113, the liquid crystal 1111
1 changes the orientation direction of the crystals, so the polarizing plate layer 114
The polarization plane of the single polarized light after passing through is not rotated by 90 degrees by the liquid crystal layer 111, and is rotated by the other polarizing plate layer 115.
As a result, the amount of light passing through the liquid crystal aperture element 102 is significantly reduced.

Therefore, in the image detection units 12 and 13, the lens 101
Since the amount of light transmitted to the side is adjusted by the liquid crystal aperture element 102, the average amount of light condensed onto the entire two-dimensional C0D 90 can be kept constant. The light whose intensity has been adjusted in this way forms an external image on the two-dimensional CCD90 by the lens 101, and the light is transmitted to the two-dimensional CCD90.
The light is quantized by each element at 0, and stored as a charge after photoelectric conversion according to the amount of light for each element.

In FIG. 9, (a) shows a plan view of the liquid crystal aperture element 102, and (b) shows an A-AlilIi plane view.

In the rearview mirror automatic adjustment device configured as described above, the control circuit 20 executes processing according to the control program shown in FIG. 10, and adjusts the rearview mirror inner claw according to the position of the driver's eyes. . As shown in the figure, first, in step 200, an initialization process is executed to set registers, parameters, etc. used in image processing and mirror angle Im adjustment processing, which will be described later, and then in step 300, the driver's eyes Detect the position three-dimensionally (
In this embodiment, image processing (which three-dimensionally detects the center position of the left and right eye positions) is performed.

When the position of the driver's eyes is three-dimensionally detected in step 300, the process moves to step 400, where a mirror angle adjustment process is executed for each rearview mirror according to the detected eye position. The mirror angle is controlled to ensure optimal rear visibility at all times. This control process is started when the driver operates the key switch and turns on the ignition switch 28 or the accessory switch 29 shown in FIG. 3, and both switches are turned on.
Until the FF state is reached, the processes of step 3°O and step 400 are repeatedly executed.

The image processing and mirror angle adjustment processing executed in step 300 and step 400 will be described in detail below.

First, the image processing shown in step 300 is performed as shown in FIG.
It is executed according to the control program.

In step 301, a light emission signal for causing the infrared light emitter 80 of the light emitting unit 11 to emit light is output, and a synchronization signal for reading out the two-dimensional image data detected by the image detection units 12 and 13 is output, and each image Detection units 12 and 1
An image signal is read out for each pixel by an image signal control circuit mounted on the printed circuit boards 92 to 96 of No. 3.

In the subsequent step 302, the read image signals are input into the main control circuit 2o, and the image signals from the image detection units 12 and 13 are stored in predetermined areas provided in the RAM 24 as image data Rf and Lf. A storing process is performed, and in the next step 303, it is determined whether the input of the image signal has been performed for all pixels of each image detecting section 12 and 13. In this step 303, the determination of "No" continues until the image signals are input for all pixels, and the processes of step 3.2 and step 303 are repeatedly executed.

Next, when image 4ci@ is input for all pixels,
Proceeding to step 304, a binarization process is executed on the image data Rf and Lf stored in a predetermined area of the RAM 24, and the binarized image data Rf -,
Obtain Lf −. Here, the binarization process is to compare the respective gradation data of the above image data R[ and l-f with a predetermined judgment level, and set the black level to the black level for the part darker than the judgment level. This is a process in which parts that are thinner than the level are clearly separated into white level.

In other words, as shown in FIG. 12, if the image data detected by the image detection unit and stored in the RAM 24 is an image as shown in (a), then the binarization process of the image data is executed. The image shown in (b) will be obtained. Furthermore, this 2
The digitized image changes depending on the judgment level, but since the amount transmitted to each image detection unit 12 and 13 is adjusted by the liquid crystal aperture element 102 described above, the driver's face is at the own level as shown in the figure. Therefore, it is easy to set the determination level so that the background is at a black level.

Next, in step 305, step 2 of step 304 is performed.
Two binarized image data R obtained by the digitization process
f =, Lf'' phrase, a process of detecting the maximum open part of the white level area, that is, a process of detecting the face part of the driver, is performed, and the process moves to the following step 306.

In step 306, a process is performed to calculate the center of area of the maximum open area of the white level of each of the detected binary image data Rf', Lf', followed by step 307.
Based on this area center, the midpoint between the driver's eyes is two-dimensionally calculated from average human data. Then, in the subsequent step 30B, a process is performed to calculate the distance d using the so-called triangulation principle based on the midpoint of both eyes determined from each binarized image data.

That is, first in step 306, as shown in FIG.
A process is performed to calculate the area center P of the maximum open area O that represents the driver's face, and in the next step 307, this area center P is calculated.
A process is performed to calculate the midpoint Q between both eyes. Then, in step 308, the distance @ld from the image detection section to the midpoint of the driver's eyes is calculated from the two image data in which the midpoint Q of both eyes is determined using the following formula (%). In addition, the above-a.

Stand, xr, x! As shown in FIG. 14, L is the distance (a) between the two-dimensional CCD 90 of the image detection unit 12 or 13 and the lens 101, and the distance (vertical) between the centers of each image detection unit 12 and 13 in the lateral direction (X direction). , the X coordinate (Xr 5Xi) of the midpoint Q between both eyes with the center in the horizontal direction as the reference point for each image detection unit 12, 13, without indicating the deviation from the image center. In this case, 1/f = 1/a + 1/d, and a
Since it is considered that <<d, the distance d can also be calculated using the following formula. [ is the focal length of the lens 101 as described above.

Once the distance l111d between the midpoint of the driver's eyes and the image detection unit is calculated in this way, the process proceeds to step 30.
At step 9, a process of calculating a deviation XS in the left-right direction (X direction) from the center of the driver's seat at the midpoint between the eyes is executed using the following formula %. In addition, in this formula, the above-mentioned distance @d
For the same reason as in the case of calculation, it is also possible to set Xs = Xlxd /f -41/2.

Next, in step 310, the calculated distance d
, the X coordinate XSN, and the Y coordinate YS representing the vertical (Y direction) deviation of the center position of the eyes shown in FIG. Store it within the area and finish the main image processing.

Next, the mirror inner claw adjustment process shown in step 400 is executed for each rearview mirror according to the control program shown in FIG.

As shown in FIG. 15 (step 401 is executed first,
The target link 4jt position (Pxo) of the actuator according to the three-dimensional position (d,

Pyo) is calculated. This is done by determining the position of each link 45 and 71 provided on the actuator from two predetermined maps so that the mirror angle corresponds to the midpoint of the driver's eyes. A process of calculating the target link position is performed. The target link position II-'xo of the right link 71 is determined from the map with parameters d and XS representing the midpoint of the driver's eyes, and the target link position 11i of the left link 45.
ffPyO can be obtained from a map in which d and YS are parameters.

In the following step 402, the actual link position @ (hereinafter referred to as the actual link position) (Px, Py) of the actuator 40 at the present time is detected based on the signals from the position sensors 79 and 78 provided for each link. Then, the process moves to the next step 403.

In step 403, the target link position (P
xo, Pyo) and the actual link position (Px, PV) l Px - Pxol, l PV - py.

1 are respectively used as a sieve, and in the subsequent step 404, it is determined whether or not these values are smaller than the set values ε× and εy, respectively.

Then, l Px −pxol <εX, and l
Until PV −pyO+ <εy, it is determined that I'NOJ is determined in this step 404, and the process moves to step 405, and the processes of step 405, step 402, step 403, and step 404 are repeatedly executed. That will happen.

In step 405, a drive signal is output to adjust the actual link position Px of the right link 71 to the target link position pxo and the actual link position Py of the left link to the target link position PVO, respectively, and the process of driving the actuator 40 is performed. Once executed, the process moves to step 402.

In this way, the actuator 40 is driven and adjusted in the x direction and the y direction, and when rYEsJ is determined in step 404, the mirror angle adjustment process is completed and the above image processing is executed again.

As explained above, in this embodiment, the center of the area of the facial area obtained from the two two-dimensional internal body imaging elements is taken as the singular point, the midpoint between the driver's eyes is determined from this singular point, and the I am trying to adjust the rearview mirror angle.

Therefore, the rearview mirror angle can always be adjusted to an angle that corresponds to the driver's eye position, and even if the driver changes, there is no need to adjust the rearview mirror angle each time. This eliminates the hassle of adjusting the mirror angle. In this embodiment, the above-mentioned detection means (2) corresponds to the image processing of step 300 shown in FIG. ,
Examples include a combination with the image detection units 12 and 13, and an example of the adjustment unit Iv is the mirror angle adjustment process of step 400 shown in FIG. 10, which is processed by the control circuit 20.

In the above embodiment, the series of image processing and mirror angle adjustment processing is executed repeatedly.
A permissible range in which the center of area of the maximum opening (facial area) determined in step 306 of FIG. Next step 30 only if exceeds
The processes after step 7 may be executed, and only the processes from step 301 to step 306 may be executed other than that.

Furthermore, in the above embodiment, the mirror angle is adjusted based on the midpoint between the driver's eyes, but the driver is also allowed to set his or her own sharpness, and the position of the sharpness is detected and the C mirror is adjusted. The angle may also be adjusted.

Furthermore, in the above embodiment 13, the position of the eyes is detected using the center position of the facial part obtained by the two-dimensional internal image pickup device as a singular point, but the position of the eyes may be directly detected. . In this case, as is clear from the binarized image data shown in FIG. 12, it is sufficient to detect as the eye position a part that is within the white level closed part and has two black levels in the horizontal direction (x direction).

In addition, in order to detect a singular point, instead of using two two-dimensional internal body image sensors, for example, one two-dimensional internal body image sensor,
Equipped with an ultrasonic transceiver, the position of the driver's nose is detected from the two-dimensional image detected by the two-dimensional solid-state Wi image element, and the distance to the position of the nose is detected by the ultrasonic transceiver. You can also do this.

In this case, we chose to detect the position of the nose because the nose is the most prominent part of the human face and is easy to detect with an ultrasonic transmitter/receiver. Alternatively, the three-dimensional position of the eye can also be detected by simply using an ultrasound transmitter/receiver to scan an ultrasound beam.

Next, in the mirror angle adjustment process, the position of each link is detected each time, and feedback control is performed to drive the actuator accordingly. For example, as shown in FIG. 16, the drive signal for the actuator 40 is The target link position (pxQ, PIlo) signals in the X direction and ■ direction of each link calculated by the CPU 22 and the actual position [(Px, Py) signal from the position sensor representing the current link position are If comparators 501 and 502 for comparison are provided in the input/output section 21 of the control circuit 20 and the signals from the comparators 501 and 502 are outputted to the actuator 40, the first
Steps 402 to 404 in the mirror angle adjustment process in FIG. 5 are no longer necessary, and simply step 4
It becomes sufficient to simply execute the target link position (PXO, Pyo) calculation process of 01. 5 in Figure 16
03 to 50B are amplifiers for amplifying each signal to a predetermined level.

The automatic rearview mirror adjustment device described above has a two-dimensional solid-state imaging device and an ultrasonic transceiver attached to the front of the driver's seat to detect the position of the driver's eyes, and also adjusts the mirror angle. An actuator consisting of a small DC motor and a clutch is used as the actuator for An automatic rearview mirror adjustment device that detects the driver's eye position using only one solid-state imaging sensor and uses a stepping motor as the actuator motor to adjust the mirror angle will be described. .

First, since only one two-dimensional COD is used in this embodiment, an image detector that integrates the image detection unit and light emitting unit of the previous embodiment is used to detect the driver's riding condition. As shown in FIG. 17, the main image detector 611 was installed diagonally above the passenger seat side so as to detect the image from the left side.

As shown in FIG. 18(a), this image detector 611 has a plurality of light emitting parts 6 around an image detecting part 612 as a center.
13 is grounded. And △ shown in Figure 18 (b)
- As is clear from the drawing, the image detection unit 612 includes a lens 621 and a lens 621 fixed in a holder 620 with an adhesive or the like.
The detected image signal number is output to the printer 1 to the board 623 on which the image signal control circuit is mounted, as in the previous embodiment. Further, the light emitting unit 613 has an infrared light emitter 62 similar to the light emitting unit 11 described above.
5. Consists of a lens 626 and a filter 627,
Power is supplied via a printed circuit board 613. In addition, in FIG. 17 above, 601 to 605
and 610 are not shown in Fig. 2. 1 to 5 and 10
Since it is the same as that, the explanation will be omitted.

Next, the structure of the rearview mirror shown in FIG. 17, 606 and 607, as shown in FIG.
Actuator 632 with square body adjustment in vertical direction
The actuator 632 includes a right link 641 for adjusting the horizontal direction (x direction) of the mirror case 631, a stepping motor 642, and a gear 6 attached to the rotating part 642a of the stepping motor 642.
43, and a left link 651 and a stepping motor 6 for adjusting the vertical direction (y direction) of the mirror case 631.
It consists of 52. It should be noted that the operation of each link is the same as in the first embodiment described above, so a detailed explanation will be omitted.

A rearview mirror with such a structure, li! The overall configuration of this rearview mirror automatic adjustment device having the 1iWA detector 611 is as shown in the block diagram of FIG.
A control circuit 670 having a PU 660, a ROM 661, a RAM 662, a backup RAM 663, an input/output section 664, etc., an image detector 611, and each rearview mirror 606.
．． 607.607'. 60 in the figure
7' is the same as in the previous example! Fig. 17 shows a door mirror, which is not shown, which is removed from the driver's side door, and 671 indicates an ignition switch, and 672 indicates an accessory switch.

The operation of the rearview mirror automatic adjustment device of this embodiment will be explained below along with the serial control program executed by the control circuit 670. In this embodiment as well, the driver operates the key switch and presses the ignition key 6 as in the previous embodiment.
71 or accessory switch 672 is turned on/
=, the processing is started, and until both switches are turned off, the image processing and mirror angle mark adjustment processing are repeatedly executed as shown in FIG.

Image processing is executed according to a control program such as J shown in FIG. Processing is performed to output a synchronizing signal for reading two-dimensional image data to a printed circuit board 623 on which an image signal control circuit is mounted.

Next, in step 702, the image signal read out by the image signal control circuit is input into the main control circuit 670, and in the next step 703, the image detection section 61
It is determined whether image signal input processing has been performed for all pixels of No. 2.

Then, until image signals are input for all pixels, it is determined as rNOJ in step 703, and step 7
02, the process of step 703 will be executed repeatedly. - When image signals have been input for all pixels, rYEsJ is determined in step 703, and the image data processing from step 704 onwards is executed.

In step 704, the image data obtained in the image signal input process in step 702 is corrected and enhanced. This processing is so-called edge enhancement, and for example, determines the value of the center pixel of a total of 5 pixels, 3 in the vertical and 3 horizontal directions of the two-dimensional CCD.
This process can be executed by performing this process on all pixels in the two-dimensional CCD 622 except pixels on the same edge. In other words, first add the values of the four pixels PI, P2, Pa, and P4 adjacent to the center pixel PO to the value of the center pixel PO in the total of five pixels (three vertically and horizontally) shown in FIG. It is sufficient to perform arithmetic processing over the entire area of the two-dimensional CCD 622 in which a value four times the value of PO is subtracted, and that value is further divided by 4 to be used as the new value of the center pixel PO.

In the following step 705, the image data corrected and emphasized in step 704 is binarized at a predetermined level, and in the next step 706, the binarized image data is thinned. executed. Here, the binarization process executed in step 705 is the same as in the previous embodiment, and the thinning process in step 706 that follows can be easily performed by centering the black line part of the binarized image data. It is something that can be implemented.

Therefore, for example, if the image data obtained in steps 702 and 703 is as shown in FIG.
The image data obtained in step 704 becomes image data in which brightness and darkness are emphasized as shown in FIG. 24, and after the binarization processing in step 705 is executed, only the outline of the driver etc. as shown in FIG. Binarized image data that remains black is obtained, and the second
Thinning image data as shown in FIG. 6 will be (q).

When the thinned image data is obtained in step 706 in this manner, the subsequent step 707 is executed to detect the image coordinates of the singular point. Here, the singularity and
The tip of the nose, which is the most prominent part of the driver's face, can be set as the tip of the nose, and by scanning from the top of the image as shown in Figure 26, the image coordinates of the singular point (Xt
, Yt') can be set.

Next, in step 708, the singularity image locus m<xt
, yt >, the three-dimensional position of the singular point is determined by assuming that there is no movement in the left-right direction relative to the driver's seat. In other words, since the driver's seat itself only moves in the front-rear direction and does not move in the left-right direction, we assume that the driver does not move in the left-right direction either.
The position of the singular point (du, O,'/u) is calculated by detecting only the movement in the direction) and the forward/backward direction (d direction).

Then, in step 709, this singular point position (du.

o, yu > to the center point of the driver's eyes (d, 01Ys
') ~ is calculated, and the image processing of this embodiment is completed.

Next, the mirror angle adjustment process of this embodiment is executed according to the control program shown in FIG. First step 801
In this case, the target link position iff (Px
o, Pyo), and in the subsequent step 802, the actual link position (Px, Py) is backed up in the RAM 6.
The process of reading from 63 is performed.

In step 803, the obtained target link position (PXO, pyo> and actual link position (Px, Py) are
Based on this, the difference (ΔPx, ΔPy) between the actual link position and the target link position in each direction is calculated using the following formula, and in the subsequent step 804, the difference between the link positions (ΔPX, ΔPy) is calculated. Corresponding processing is performed to drive stepping motors 642 and 652. In this case, when driving the stepping motor 652 for adjusting the position of the left link 651, the stepping motor 642
If it is fixed, the position of the right link 641 will change, so it is necessary to drive the stepping motor 642 in accordance with the rotation of the stepping motor 652, and then adjust the position of the right link 641.

Thereafter, in step 805, the target link position (Pxo, Pyo) calculated in step 801 is stored in the backup RAM 663 as the actual link position II (Px, Py).
), and the main mirror angle adjustment process is completed.

As explained above, in the rearview mirror automatic adjustment device of this embodiment, only one two-dimensional solid-state m-image element is used to capture the driver from the side, and the driver does not move in the left or right direction. Assuming that, the three-dimensional position of the driver's eyes is detected, and the mirror angle is adjusted according to the detected position of the eyes through numerical processing using a stepping motor. Therefore, it is not necessary to detect each link position of the actuator each time, and a position sensor is not required.

In the mirror angle adjustment process of this embodiment, the link position of the actuator is stored and only the difference is driven so that the link position becomes the target link position.
For example, if the power to the backup RAM goes out, the target link position cannot be reached or manual operation is not possible, so both the ignition switch and the accessory switch are turned off. In some cases, the link position of the actuator may be returned to the reference position.

Effect of E-wing] As detailed above, according to the rearview mirror automatic adjustment device of the present invention, the rearview mirror is provided with an actuator for adjusting the mirror angle, and the position of the driver's eyes is detected three-dimensionally. The mirror angle of the rearview mirror can be automatically adjusted according to the position of the driver's eyes. It also eliminates the hassle of adjusting the rearview mirror when the driver changes hands.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of the present invention, FIGS. 2 to 15 show a first embodiment of the present invention, FIG. 16 shows another example of the control circuit 20 in the first embodiment of the present invention, and FIG. 27 to 27 are views showing the second embodiment of the present invention, in which FIG. 2 is a perspective view showing the area around the driver's seat of the first embodiment, and FIG. 3 is a rearview mirror automatic adjustment of the present embodiment. FIG. 4 is a block diagram showing the overall configuration of the device, FIG. 4 shows the configuration of the rearview mirror, (A) is a partial sectional view, (B) is a left side view thereof, and FIGS. 5 and 6 show the light emitting unit 11 and the image. A side view and a plan view near the driver's seat to explain the mounting position of the detection parts 12 and 13, and FIG. 7 shows the light emitting part 1.
1. FIG. 8 is a partial sectional view showing the configuration of the image detection unit 12 or 13. FIG. 9 is a partial sectional view showing the configuration of the filter 10.
2 shows the structure, (a) is a plan view, (b) is A-Al
T! 10 is a flowchart showing the control program executed by the control fi+1 circuit 20, FIG. 11 is a flowchart showing the 70-diameter image processing shown in FIG. 10, and FIG. 12 is the binarization process. Diagrams of image data (a) and binarized image data (b) for explaining, Part 1
3 is an image diagram explaining the singular point P and the center position O of both eyes, FIG. 14 is an explanatory diagram illustrating calculation of eye center position coordinates, FIG. 15 is a flowchart showing mirror angle adjustment processing, and FIG. 16 is a circuit diagram explaining another example of the control circuit 20 as described above, FIG. 17 is a perspective view showing the area around the driver's seat of the second embodiment, and FIG. 18 is a diagram showing the image detector 611.
A) is a plan view, (B) is a partial sectional view, FIG. 19 is a partial sectional view showing the configuration of the rearview mirror, and FIG. 20 is a block diagram showing the overall configuration of the rearview mirror automatic adjustment device of this embodiment, FIG. 21 is a flowchart showing image processing of the control program executed by the control circuit 670, and FIG. 22 is a two-dimensional illumination element 6 illustrating image data correction/enhancement processing.
22 and pixels, FIG. 23 is image data detected by the two-dimensional image element 622, and FIG. 24 is the corrected image data.
Image data after enhancement processing, FIG. 25 is an image diagram showing binarized image data, and FIG. 26 is an image diagram showing thinned image data.
FIG. 7 is a flowchart without showing the mirror angle adjustment process. 2...Driver's seat 6...Inside mirror 7.7'...Door mirror 10...Instrument panel 11...Light emitting section 12.13...Image detection section 40...Actuator 45...・Left link 71...Right link Agent Patent attorney Tsutomu Sadatsu and 1 other person Figure 5 Figure 6 Figure 7 Figure 8 Figure 1m Figure 9 (a) Fu (b) Figure 10 Figure 12 Figure 13 X coordinate Relationship with the case of the person making the amendment Patent Applicant Address 1-1 Showa-cho, Kariya City, Aichi Prefecture Name (426) Nippondenso Co., Ltd. Representative Door 1) Shiyo 4, Agent Address: 460

Claims (1)

[Scope of Claims] 1. An actuator that is installed in a rearview mirror of a vehicle and adjusts the angle of the rearview mirror, and a detection means that three-dimensionally detects the position of the eyes of a driver approaching the vehicle. 2. An automatic rearview mirror, comprising: an adjustment means for outputting a drive signal to the actuator according to the position of the driver's eyes detected by the detection means, and adjusting an angle of the rearview mirror; Adjustment device. 2. The detection means has two two-dimensional face-shaped dance elements provided in front of the driver's seat, and detects the position of the driver's eyes from two two-dimensional images. Rearview mirror automatic adjustment device. 3. 1WA two-dimensional anti-body motion with detection means installed in front of the driver's seat! The rearview mirror according to claim 1, which has a & element and an ultrasonic transmitter/receiver, and detects the position of the driver's eyes from one two-dimensional image and the transmission/reception time of the ultrasonic waves.
J+ training device. 4. The detection means is provided on the side of the driver's seat or diagonally in front of the driver's seat.
A patent claim that detects the position of the driver's eyes simply from a single two-dimensional image, assuming that there is no movement of the driver in the left-right direction with respect to the driver's seat. The rearview mirror automatic adjustment device according to scope 1. 5. Claims 2 to 4, wherein the detection means detects a singular point of the driver from a two-dimensional image of a two-dimensional internal image sensor, and detects the position of the driver's eyes based on the singular point. The rearview mirror automatic adjustment device according to any one of paragraphs. 6. The rearview mirror automatic adjustment device according to any one of claims 2 to 4, wherein the detection means detects the position of the driver's eyes from a two-dimensional image of a two-dimensional internal image sensor. 7. The detection means has an ultrasonic transmitter/receiver provided in front of the driver's seat, detects a singular point of the driver from the transmission and reception time of ultrasonic waves by scanning the ultrasonic beam, and based on the detected singular point, Claim 1 for detecting the position of the driver's eyes
Rearview mirror automatic adjustment device as described in section.